Method for assisting a driver with a manual parking procedure of a motor vehicle and motor vehicle

Abstract

The disclosure relates to a method for assisting a driver with a manual parking procedure of a motor vehicle, wherein a processor is used to determine a target parking space and a position of the motor vehicle, to determine at least one driving setting of the motor vehicle, to determine a reachability of the target parking space proceeding from the position using the at least one determined driving setting, and to facilitate actuation of a steering of the motor vehicle by the driver by applying at least one steering torque to the steering if it is determined that the target parking space cannot be reached proceeding from the position with the at least one determined driving setting.

What is claimed is: 
     
       1. A method for assisting a driver with a manual parking procedure of a motor vehicle, comprising, using a processor:
 determining a target parking space and a position of the motor vehicle; 
 determining at least one driving setting of the motor vehicle; 
 determining a reachability of the target parking space proceeding from the position using the at least one determined driving setting; 
 if it is determined that the target parking space cannot be reached proceeding from the position in a continuous movement without collision with the at least one determined driving setting, selectively actuating a steering of the motor vehicle by applying at least one additional steering torque to the steering in addition to a steering torque applied by a driver, wherein if the steering torque applied by the driver corresponds to a first steering movement, the at least one additional steering torque is an impeding steering torque that impedes the first steering movement, and if the steering torque applied by the driver corresponds to a second steering movement counter to the first steering movement, the at least one additional steering torque is a facilitating steering torque that amplifies the second steering movement; and 
 if it is determined that the target parking space can be reached by the motor vehicle proceeding from the position in a continuous movement without collision with the at least one determined driving setting, selectively disabling the additional steering torque. 
 
     
     
       2. The method of  claim 1 , comprising
 depending on the at least one determined driving setting, splitting the surroundings of the motor vehicle into at least two different regions, wherein a first region characterizes the reachability of the target parking space for the at least one determined driving setting and a second region characterizes an unreachability of the target parking space for the at least one determined driving setting; 
 determining which of the regions the motor vehicle is located in; and 
 providing the steering torque for the steering if it is established that the motor vehicle is located in the second region, whereas the steering torque is not provided if it is established that the motor vehicle is located in the first region. 
 
     
     
       3. The method of  claim 2 , wherein a third region is also provided in the surroundings of the motor vehicle, which third region characterizes an unreachability of the target parking space in a continuous movement without collision regardless of the determined driving setting. 
     
     
       4. The method of  claim 3 , comprising outputting the determined regions. 
     
     
       5. The method of  claim 3 , comprising assigning at least one of the regions depending on a predefined safety distance to be maintained from at least one detected object. 
     
     
       6. The method of  claim 3 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       7. The method of  claim 2 , comprising outputting the determined regions. 
     
     
       8. The method of  claim 7 , comprising assigning at least one of the regions depending on a predefined safety distance to be maintained from at least one detected object. 
     
     
       9. The method of  claim 7 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       10. The method of  claim 2 , comprising assigning at least one of the regions depending on a predefined safety distance to be maintained from at least one detected object. 
     
     
       11. The method of  claim 10 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       12. The method of  claim 2 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       13. The method of  claim 1 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       14. The method of  claim 1 , comprising adjusting the determined reachability of the target parking space if it is determined that the at least one determined driving setting and/or the position of the motor vehicle has been adjusted. 
     
     
       15. The method of  claim 14 , comprising
 depending on the at least one determined driving setting, splitting the surroundings of the motor vehicle into at least two different regions, wherein a first region characterizes the reachability of the target parking space for the at least one determined driving setting and a second region characterizes an unreachability of the target parking space for the at least one determined driving setting; 
 determining which of the regions the motor vehicle is located in; and 
 providing the steering torque for the steering if it is established that the motor vehicle is located in the second region, whereas the steering torque is not provided if it is established that the motor vehicle is located in the first region. 
 
     
     
       16. The method of  claim 15 , wherein a third region is also provided in the surroundings of the motor vehicle, which third region characterizes an unreachability of the target parking space in a continuous movement without collision regardless of the determined driving setting. 
     
     
       17. The method of  claim 14 , comprising, if it is determined that the target parking space cannot be reached proceeding from the position of the motor vehicle regardless of the determined driving setting, not providing the steering torque. 
     
     
       18. The method of  claim 1 , wherein one or more of a set steering angle, a maximum possible steering angle, an engaged gear, and a wheel base of the motor vehicle is determined as the driving setting. 
     
     
       19. A motor vehicle, which is configured to:
 determine a target parking space and a position of the motor vehicle; 
 determine at least one driving setting of the motor vehicle; 
 determine a reachability of the target parking space proceeding from the position using the at least one determined driving setting; 
 if it is determined that the target parking space cannot be reached proceeding from the position in a continuous movement without collision with the at least one determined driving setting, selectively actuate a steering of the motor vehicle applying at least one additional steering torque to the steering in addition to a steering torque applied by a driver, wherein if the steering torque applied by the driver corresponds to a first steering movement, the at least one additional steering torque is an impeding steering torque that impedes the first steering movement, and if the steering torque applied by the driver corresponds to a second steering movement counter to the first steering movement, the at least one additional steering torque is a facilitating steering torque that amplifies the second steering movement; and 
 if it is determined that the target parking space can be reached by the motor vehicle proceeding from the position in a continuous movement without collision with the at least one determined driving setting, selectively disable the additional steering torque.